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feat(pid_longitudinal_controller): change the condition from emergency to stopped #5892

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Dec 18, 2023
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feat(pid_longitudinal_controller): change the condition from emergency to stopped #5892

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7 changes: 4 additions & 3 deletions control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -646,10 +646,11 @@

// in EMERGENCY state
if (m_control_state == ControlState::EMERGENCY) {
if (stopped_condition) {
return changeState(ControlState::STOPPED);

Check warning on line 650 in control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

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Codecov / codecov/patch

control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp#L650 

Added line #L650 was not covered by tests
}

if (!emergency_condition) {

Check notice on line 653 in control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Bumpy Road Ahead 

PidLongitudinalController::updateControlState increases from 8 to 9 logical blocks with deeply nested code, threshold is one single block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
if (stopped_condition) {
return changeState(ControlState::STOPPED);
}
if (!is_under_control) {
// NOTE: On manual driving, no need stopping to exit the emergency.
return changeState(ControlState::DRIVE);
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